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Compact MR-brake with serpentine flux path for haptics applications

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2 Author(s)
Senkal, D. ; Sch. of Eng. & Comput. Sci., Washington State Univ. Vancouver, Vancouver, WA ; Gurocak, H.

This research explores a new approach to shape the magnetic flux path in a MR brake. Magnetically conductive and non-conductive elements were stacked to weave the magnetic flux through the rotor and the outer shell of the brake. This approach enabled design of a more compact and powerful MR brake. In addition, a ferro-fluidic sealing technique was developed to prevent the fluid from leaking and to reduce off-state friction. Experimental results showed that, when compared to a commercial MR brake, our 33% smaller prototype MR-brake could generate 2.7 times more torque (10.9 Nm). A 1-DOF haptic interface employing the brake enabled crisp virtual wall collision simulations. Significant reduction in the off-state torque was obtained by applying a reverse current pulse to collapse a residual magnetic field in the brake.

Published in:

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date of Conference:

18-20 March 2009